Class BundleAdjustmentProjectiveResidualFunction

java.lang.Object
boofcv.alg.geo.bundle.BundleAdjustmentProjectiveResidualFunction
All Implemented Interfaces:
BundleAdjustmentSchur.FunctionResiduals<SceneStructureProjective>, FunctionInOut, FunctionNtoM

public class BundleAdjustmentProjectiveResidualFunction
extends Object
implements BundleAdjustmentSchur.FunctionResiduals<SceneStructureProjective>

Computes observations errors/residuals for projective bundle adjustment as implemented using UnconstrainedLeastSquares. Parameterization is done using the format in CodecSceneStructureProjective.

cost(P) = (1/(m*n))*∑ij ||xj - (1/z)*Pi*Xj||2

See Also:
SceneStructureProjective, SceneObservations